diff --git a/packages/SystemUI/src/com/android/systemui/accessibility/AccessibilityButtonModeObserver.java b/packages/SystemUI/src/com/android/systemui/accessibility/AccessibilityButtonModeObserver.java
index 9bedb1ea75637..fbb909f301219 100644
--- a/packages/SystemUI/src/com/android/systemui/accessibility/AccessibilityButtonModeObserver.java
+++ b/packages/SystemUI/src/com/android/systemui/accessibility/AccessibilityButtonModeObserver.java
@@ -17,6 +17,7 @@
 package com.android.systemui.accessibility;
 
 import static android.provider.Settings.Secure.ACCESSIBILITY_BUTTON_MODE_FLOATING_MENU;
+import static android.provider.Settings.Secure.ACCESSIBILITY_BUTTON_MODE_GESTURE;
 import static android.provider.Settings.Secure.ACCESSIBILITY_BUTTON_MODE_NAVIGATION_BAR;
 
 import android.annotation.IntDef;
@@ -49,7 +50,8 @@ public class AccessibilityButtonModeObserver extends
     @Retention(RetentionPolicy.SOURCE)
     @IntDef({
             ACCESSIBILITY_BUTTON_MODE_NAVIGATION_BAR,
-            ACCESSIBILITY_BUTTON_MODE_FLOATING_MENU
+            ACCESSIBILITY_BUTTON_MODE_FLOATING_MENU,
+            ACCESSIBILITY_BUTTON_MODE_GESTURE
     })
     public @interface AccessibilityButtonMode {}
 
diff --git a/packages/SystemUI/src/com/android/systemui/navigationbar/NavigationBar.java b/packages/SystemUI/src/com/android/systemui/navigationbar/NavigationBar.java
index 7f42530916cf2..deffc435a3de6 100644
--- a/packages/SystemUI/src/com/android/systemui/navigationbar/NavigationBar.java
+++ b/packages/SystemUI/src/com/android/systemui/navigationbar/NavigationBar.java
@@ -25,6 +25,8 @@ import static android.app.StatusBarManager.WindowVisibleState;
 import static android.app.StatusBarManager.windowStateToString;
 import static android.app.WindowConfiguration.ROTATION_UNDEFINED;
 import static android.provider.Settings.Secure.ACCESSIBILITY_BUTTON_MODE_FLOATING_MENU;
+import static android.provider.Settings.Secure.ACCESSIBILITY_BUTTON_MODE_GESTURE;
+import static android.provider.Settings.Secure.ACCESSIBILITY_BUTTON_MODE_NAVIGATION_BAR;
 import static android.view.Display.DEFAULT_DISPLAY;
 import static android.view.InsetsState.ITYPE_NAVIGATION_BAR;
 import static android.view.InsetsState.containsType;
@@ -579,7 +581,7 @@ public class NavigationBar implements View.OnAttachStateChangeListener,
         mDeviceProvisionedController.addCallback(mUserSetupListener);
         mNotificationShadeDepthController.addListener(mDepthListener);
 
-        setAccessibilityFloatingMenuModeIfNeeded();
+        updateAccessibilityButtonModeIfNeeded();
 
         return barView;
     }
@@ -1364,11 +1366,31 @@ public class NavigationBar implements View.OnAttachStateChangeListener,
         updateSystemUiStateFlags(a11yFlags);
     }
 
-    private void setAccessibilityFloatingMenuModeIfNeeded() {
-        if (QuickStepContract.isGesturalMode(mNavBarMode)) {
+    private void updateAccessibilityButtonModeIfNeeded() {
+        final int mode = Settings.Secure.getIntForUser(mContentResolver,
+                Settings.Secure.ACCESSIBILITY_BUTTON_MODE,
+                ACCESSIBILITY_BUTTON_MODE_NAVIGATION_BAR, UserHandle.USER_CURRENT);
+
+        // ACCESSIBILITY_BUTTON_MODE_FLOATING_MENU is compatible under gestural or non-gestural
+        // mode, so we don't need to update it.
+        if (mode == ACCESSIBILITY_BUTTON_MODE_FLOATING_MENU) {
+            return;
+        }
+
+        // ACCESSIBILITY_BUTTON_MODE_NAVIGATION_BAR is incompatible under gestural mode. Need to
+        // force update to ACCESSIBILITY_BUTTON_MODE_GESTURE.
+        if (QuickStepContract.isGesturalMode(mNavBarMode)
+                && mode == ACCESSIBILITY_BUTTON_MODE_NAVIGATION_BAR) {
+            Settings.Secure.putIntForUser(mContentResolver,
+                    Settings.Secure.ACCESSIBILITY_BUTTON_MODE, ACCESSIBILITY_BUTTON_MODE_GESTURE,
+                    UserHandle.USER_CURRENT);
+            // ACCESSIBILITY_BUTTON_MODE_GESTURE is incompatible under non gestural mode. Need to
+            // force update to ACCESSIBILITY_BUTTON_MODE_NAVIGATION_BAR.
+        } else if (!QuickStepContract.isGesturalMode(mNavBarMode)
+                && mode == ACCESSIBILITY_BUTTON_MODE_GESTURE) {
             Settings.Secure.putIntForUser(mContentResolver,
                     Settings.Secure.ACCESSIBILITY_BUTTON_MODE,
-                    ACCESSIBILITY_BUTTON_MODE_FLOATING_MENU, UserHandle.USER_CURRENT);
+                    ACCESSIBILITY_BUTTON_MODE_NAVIGATION_BAR, UserHandle.USER_CURRENT);
         }
     }
 
@@ -1495,7 +1517,7 @@ public class NavigationBar implements View.OnAttachStateChangeListener,
             }
         }
         updateScreenPinningGestures();
-        setAccessibilityFloatingMenuModeIfNeeded();
+        updateAccessibilityButtonModeIfNeeded();
 
         if (!canShowSecondaryHandle()) {
             resetSecondaryHandle();